The study velocity control of multi-stage cylinder driven large mechanism erecting process

The study is velocity control of multi-stage cylinder driven mechanism erecting, the nonlinear and time varying characteristics of the large mechanism erecting process is analyzed, the technology difficulties of robustness and stability is discussed. The angle velocity tracking control strategy of the erecting process is proposed, and the erecting angle velocity is designed based on the sine acceleration function, and the erecting angle velocity dynamic programming based on the real-time angle is proposed, the study platform of velocity tracking control for large mechanism erecting based the software collaborative is constructed. The research is of significance for the intelligent control and optimization of large mechanism erecting system.